Integrator



Patented Jan. 28, 1 9 4 7 INTEGRATOR Charles S. Grimshaw, Scotia, N. Y., assignor to General Electric Company, a corporation of New York Application May 17, 1943, Serial No. 487,308

5 Claims.

This invention relates to integrators, and it has for its object the provision of an integrator of simplified construction, and one that is positive and accurate in its operation.

While not limited thereto, this invention is particularly useful in the calculation of data for gunfire control; and in one particular application of this character it integrates with respect to time the magnitude of rate of change of the range of a target, whereby the value of range is obtained.

In accordance with this invention in one form thereof, a variable of integration input shaft drives a member to oscillate it in such a Way that the variable of integration input is reversed at definite space intervals.

Connections are interposed between this oscillating member and an integration output shaft including reversing mechanism so that this output shaft is driven in step-by-step motion in a constant direction, irrespective of the reversals of the oscillating member.

The connection means between the oscillating member and the integration output shaft is controlled in accordance with the operation of an integrand input shaft so that this motion modifies that of the oscillating member to cause the output integration shaft to generate the integral of the integrand with respect to the variable of integration introduced by the input shaft.

The parts are constructed and arranged so that the integration output shaft is braked at the instants of reversals, at which times the motion of the integrand shaft is introduced, and at other times the output shaft is free to move, while the integrand input shaft is braked. Any motion of the integrand shaft prior to its release is absorbed in a motion absorbing device which releases this motion and permits its introduction at the moments of reversal.

For a more complete understanding of this invention, reference should be had to the accompanying drawing in which Fig. 1 is a perspective view illustrating an integrator arranged in accordance with this invention; and Figs. 2 and 3 are diagrammatic views which I will use to demonstrate the theory of operation of the integrator.

Referring to the drawing, this invention has been shown in one form as applied to an integrator comprising a variable of integration input shaft Ill, an integrand input shaft II, and an integration output shaft l2.

The input shaft In is driven at a substantially constant speed by any suitable timing mechanism (not shown). This shaft rotates a disk l3 which is provided with a crank pin M which is utilized to oscillate a disk l5 which is mounted on a shaft l6. The disk l5 has a diameter materially larger than has the disk I3, and the disk I I3 is connected to the disk [5 by means of a connecting rod I! which has its upper end, as viewed in the figure, pivoted to the crank pin l4 and its lower end pivoted to a crank pin l8 on the member i5. Inasmuch as the radius of the crank pin I8 is materially larger than is that of the crank pin It, the continuous rotation of the input shaft II! will give the disk [-5 an oscillating motion. In other Words, the input of the shaft in is reversed at definite space intervals by the member IS.

The oscillating member 15 through a shaft it, a differential l9 and a shaft 28 drives a earn 2!, which preferably will be referred to as a squaring cam. In other words, the oscillatory motion of the disk I5 is translated to the squaring cam 2i and oscillates it also. This squaring cam 2| is used to drive the integration output shaft 12 in a constant direction, but with a step-by-step motion. For this purpose, it is provided with a spiral gear rack 22 with which meshes a spur gear 23 that is splined upon a shaft 24; as shown, the gear 23 is provided with a square central opening which is received by a complementary section of the shaft 24 so that the gear 23 can move inwardly and outwardly radially with reference to the cam 2i, and at the same time will rotate the shaft 24 when the cam 2! is rotated.

The operation of the squaring cam 2| may be better understood by reference to Fig. 2. The spiral gear rack 22 is wound with equal laps, that is, it is a. uniform spiral. The radius of the rack is proportional to the rotation of the cam 2 I.

Now let r=radius to spiral rack 22 K=constant of cam 2| =rotation of cam 2| in radians B=rotation of gear 23 in radians rz=radius of gear 23 1. Then r=KA by definition of K. The distance along the spiral track 22 traveled by the gear 23 is B'rz. I

2. Br2=frdA substituting r=KA 3. Br fKAdA solving BT2=KA2+ C or B: K C' 272 where C=a constant of integration.

and 02 2;

suitable reversing mechanism 25 which is operated responsively to the motion of the input shaft Hi. This reversing mechanism is of the clutch type comprising a driving gear 26, a driving gear 21 and a movable clutch element 28. The element 28 is splined to a shaft 29 so that when the element is rotated by either of the gears 26 or 21, the shaft 29 will be rotated with it. The shaft 29 is positively geared to the shaft [2 through bevel gears 29a. It will be observed that the element 28 is provided with two sets of teeth 36 and SI which are arranged to mesh with teeth 32 and 33 secured to the driving gears 26 and 27 respectively.

The driving gear 26 is driven by the shaft 24 through a spur gear 32, While the driving gear 21 is driven in an opposite direction by the shaft 2 through a spur gear 35 and an idler gear 35.

The reversal mechanism 25 is controlled from the shaft it so that while the gear cam 2| is oscillated, the shaft l2 will be driven in a constant direction. For this purpose, the element 23 is controlled by means of an oscillating frame 31 which is alternately moved up and down about its fixed pivot 38 by means of a cam 39 fixed to the shaft i and coacting with followers 49 and 4| in the frame 31.

By reason of the foregoing arrangement, if it be assumed that the gear 26 is under control by reason of the fact that the clutch element teeth 39 are in engagement with its teeth 32, then the gear cam 2| will operate the shaft |2 in one direction. When the gear cam 2| is reversed, the clutch element 28 is moved so that its teeth 3| engage the teeth 33, and then the gear 21 operates the shaft 29 to move the shaft l2 in the same direction as it had before even though the cam 2| is moving in the reverse direction. In this way, irrespective of the reversals of the input by the oscillator l5, the shaft I2 is driven in the same direction with a step-by-step motion,

At the instants of reversal of the input, the integration output shaft I2 is braked by a brake mechanism 32 comprising a brake wheel 23 on the shaft and a. pivoted brake arm 42 having a brake shoe Ma that cooperates with the wheel 53. The rm is is biased toward the wheel 53 by means of a spring 45, and is operated away from it by a cam 46 operated by the input shaft l0 and which cooperates with a follower 41 on the brake arm 44. In other words, whenever the crank pin It is at the bottom or top of its stroke, the brake arm 44 moves its shoe Ma into engagement with the brake wheel 43 to brake momentarily the output integral shaft l2. More specifically, the cam 46 is provided with a pair of diametrally opposed depressions, as shown, into which the follower ll falls each half revolution of the cam 36, and which are positioned so that the spring can force the shoe 44a into contact with the brake wheel 13 to brake the shaft l2 at the points of reversal of the input.

Movement of the integrand input shaft ii is introduced into the system by rotating the spiral cam 2| to vary the radius of operation of the spur gear 23 with reference to the axis of rotation of the cam. It is not introduced while the spur gear is being rotated during an oscillation of the gear cam 2|, because this would introduce an error into the output of the shaft l2, but it is introduced only at the instant of reversal when the output shaft is braked and the clutch element 28 is in its neutral position. In order to accompression spring 53. The heart cam 69 is mounted upon a shafted which drives a gear 55 which in turn drives a gear 56 to move the spider of the difierential l9 to add the motion of the shaft H to the motion of the input oscillating member l5.- In order that the motion of the shaft M will be introduced only at the instants of reversal, the shaft 52 is braked at all times except at these instants of time. For this purpose, the shaft 54 carries a brake drum 5? with which a shoe 58 on the brake arm 44 cooperates. The cam 46 on the input shaft l9 operates the shoe 53 into engagement with the drum 5? at all times except at the instants of reversal In view of the foregoing construction, the shaft may turn in the integrand at any time, but except at the instants of reversal, it will merely move the follower 50 about the periphery of the heart cam 5 the shaft 54 being braked. However, at the instants of reversal when the brake drum 51 is released the follower 50 will drop into the notch of the heart and actuate the cam 159 which motion will operate the differential ii] to vary the radius of operation of the gear 23.

In operation, during the first half of revolution of the shaft Hi there will be a first period during which the shaft IE will drive the cam 2| through the oscillating disk-any motion of the shaft H at this time being stored in the motion storing device 43. At the end of the first half of the revolution, there will be a second period during which the output shaft |2 will be braked by the brake 42; the input will be changing the direction of motion; the clutch element 28 will be in its neutral position toallow both gears 26 and 21 to rotate freely; and the brake 22 will be released from the brake drum 51 so that the heart cam 49 will drive the differential IE! to adjust the radius operation of the gear 23 in accordance with the motion previously stored in the heart cam. During the second half of revolution of the input shaft ill the same two periods follow, except that the cam 2| will rotate in the opposite direction.

In this way, the inputs of the shafts m and H impart to the integration output shaft I2 a stepby-step motion, This output measures the integral of the integrand introduced in the shaft II with respect to the variable of integration introduced by the shaft l0.

It is contemplated that this devicewill operate for both positive and negative values of the integrand introduced at shaft II. It is not feasible to operate the spur gear23 through the axis of rotation of the gear cam 2|. And therefore, the zero position of the gear23 has been arbitrarily chosen at some predetermined intermediate radial distance from the axis of rotation of the gear cam. The operation of the gear abovethis position, as viewed in the figure, will correspond, for example, to positive values of the integrand, while the operation at smaller radii will correspond to negative values of the integrand. It is, therefore, necessary to introduce a correction into the operation of the shaft |2 so that its motion will be zero whenthe gear23 is at its chosen zero position. Therefore, any motion which would have been put into the shaft [2 by operation of the gear 23 at its arbitrarily chosen zero position is subtracted in a differential 59 which is operated from the input shaft I. This differential comprises the input and output gears 60 and SI, and the spider gears 62 and 63 which are mounted on the spider gear 64. This gear 64 is driven by a spur gear 65 attached to the shaft l0, and it is driven in such a way that the differential subtracts the motion which would have been given to the shaft l2, becauseof the intermediate zero radial position of the driving gear 23.

It will be understood that when the gear 23 is operating below the chosen zero position because of the fact that the integrand has a negative value and shaft II has a negative setting, output shaft l2 will rotate in the reverse direction.

A mathematical analysis of the operation of the integrator is as follows:

By reference to Fig. 3, it will be understood that it is the function of the integrator to calculate the summation of the separate areas of the rectangles lying under the curve, that is to calculate ZR1AT+R2AT+R3AT The areas of the small triangles P located between the curve and the tops of the rectangles are neglected.

Now-

KaAT is rotation of shaft [2 from /2 revolution of time shaft in.

AT is rotation of shaft It from /2 revolution of shaft If].

R is rotation of shaft 20 from rotation of shaft H from range rate.

R is rotation of shaft l2.

The differential I9 adds the rotation of shaft II to the rotation of shaft It so that the input of the cam 2| for /2 revolution of shaft Ill, hereafter called one step, is R1+AT+K4, where K4 is a constant added to the input of cam 2! to make the radius of the spiral rack manufacturable.

The next step of cam 2! is R2AT+K4, because of the reversal in direction of shaft I6.

The subscript on R. is added because R can change at the end of each step, as shown in Fig. 3.

The input of the cam 2| is the summation of all the steps or A=E(R1+AT+IT4) (RZAT+K4)+(R3+AT+K4) Substituting in Equation 5, the output of the cam 2| is B=Kz[E( R1+AT+K4) -l (R2ATl--K4) i-(R3|AT+K4) .1 |C'2 The output B is reversed after each step by reversing mechanism 25 so the rotation of gear 60 is:

K2[Z(R1+AT+K4) (R2---ATIK4) I(Rs-l-AT-I-Ke) .l-l-C'z Solving The ratio of gear 65 to 64 is set so that the differential 59 subtracts ZZKAT, and C2 is removed by the initial setting in shaft I2. 2K2 can be made one by proper gear ratio in difference between gear 60 and shaft I! so rotation of shaft [2 is R=2R1AT+R2AT No error is introduced by changing from R1 to R2 because this motion is lost when the brake 44 holds drum 43 and the reversing mechanism teeth 3| and 32 are not engaged.

While I have shown a particular embodiment of my invention, it will be understood, of course, that I do not wish to be limited thereto since many modifications may be made, and I, therefore, contemplate by the appended claims to cover any such modifications as fall Within the true spirit and scope of my invention.

What I claim as new and desire to secure by Letters Patent of the United States is:

1. An integrator comprising a driving member, a second member oscillated by said driving memher, a driven member, driving connection means between said second member and said driven member including a reversing mechanism operable responsively to said driving member for driving said driven member in a constant direction, and a member for controlling said driving connection means to effect a change in the speed ratio between said second member and said driving member in accordance with variations in the magnitude of a function.

2. An integrator comprising variable of integration input shaft, a member oscillated by said shaft at definite spaced intervals, an integration output shaft, a reversible driving connection means between said oscillating member and said output shaft controlled by said input shaft so that said output shaft is driven in a constant direction irrespective of the oscillations of said member, an integrand input shaft, and means for controlling said driving connection means in accordance with the operation of said integrand input shaft.

3. An integrator comprising a, variable of integration input shaft, a member oscillated by said shaft at definite spaced intervals, an integration output shaft, a reversible driving connection means between said oscillating member and said output shaft controlled by said input shaft so that said output shaft is driven in a constant direction irrespective of the oscillations of said member, braking means for said output shaft controlled by said input shaft to brake said output shaft at the times of reversal of said oscillating member and said input shaft at said times having means for neutralizing said reversing driving connection means, an integrand input shaft, and means for controlling said driving connection means in accordance with the operation of said integrand input shaft so as to introduce the values of the integrand input at said instants of reversal.

4. An integrator comprising a variable of integration input shaft, a member oscillated by said shaft at definite spaced intervals, an integration output shaft, a reversible driving connection means including a differential interposed between said oscillating member and said output shaft controlled by said input shaft so that said output shaft is driven in a constant direction irrespective of the oscillations of said member, an integrand input shaft, a driving shaft connected with said differential, a motion storing connection between said driving shaft and integrand input shaft, braking means for said output shaft cotrolled by said input shaft to brake said output shaft at the times of reversal of said oscillating member and said input shaft at said times hav- 1 ing means for neutralizing said driving. connection means, and braking means for said driving shaft that connects said integrand input shaft and oscillating member controlled by said input shaft to brake the driving shaft at all times except at said times of reversal so that at said times any change in the motion of said integrand shaft is transferred by said motion storing connection to said oscillating member to change the speed ratio therebetween and said driving shaft.

5. An integrator comprising a variable of integration input shaft, a spiral gear, means for oscillating said spiral gear driven by said input shaft said means including a differential device,

an integration output shaft, a shaft driven by said spiral gear, a reversing mechanism between said shaft and said output shaft operated by said input shaft so that said output shaft is driven step-by-step in a constant direction, means operand for operating s aid reversing mechanism to a -neutral condition at said times of reversal, an

;integ1and input shaft, a heart cam and motion storing connection means between said integrand input shaft and said heart cam, connection means between said; heart camand said differential,

brakingmeansioperated by said input shaft preventingthe operation of said differential by said heart cam and motion storing means at all times except at saidtimes of reversal, at which times said differential is operated by said heart cam and motion storing connection means to shift the position of said spiral gear in accordance with any priorrvariations in the position of said integrand input shaft in order to vary the speed ratio between said gear and said output shaft.

L CHARLES S. G'RIMSHAW. 

